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Base: Simplify Base::Matrix4D

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As discussed in https://forum.freecad.org/viewtopic.php?t=65959 reduce code duplications
This commit is contained in:
wmayer
2025-05-13 13:07:44 +02:00
committed by Ladislav Michl
parent 7998f57048
commit 13232cbc7b
3 changed files with 190 additions and 61 deletions
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172
tests/src/Base/Matrix.cpp
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@@ -1,6 +1,7 @@
#include <gtest/gtest.h>
#include <Base/Matrix.h>
#include <Base/Rotation.h>
#include <Base/Tools.h>
// NOLINTBEGIN(cppcoreguidelines-*,readability-magic-numbers)
// clang-format off
@@ -155,6 +156,18 @@ TEST(Matrix, TestMultVec)
Base::Vector3d vec2 {1, 1, 1};
mat.multVec(vec2, vec2);
EXPECT_EQ(vec2, Base::Vector3d(6.0, 7.0, 8.0));
Base::Vector3f vec3{1.0F,1.0F,3.0F};
vec3 = mat * vec3;
EXPECT_EQ(vec3, Base::Vector3f(12.0F, 9.0F, 12.0F));
Base::Vector3f vec4 {1.0F, 1.0F, 1.0F};
mat.multVec(vec4, vec4);
EXPECT_EQ(vec4, Base::Vector3f(6.0F, 7.0F, 8.0F));
Base::Vector3f vec5 {1.0F, 1.0F, 1.0F};
vec5 *= mat;
EXPECT_EQ(vec5, Base::Vector3f(6.0F, 7.0F, 8.0F));
}
TEST(Matrix, TestMult)
@@ -173,6 +186,7 @@ TEST(Matrix, TestMult)
10.0, 13.0, 13.0, 7.0,
0.0, 0.0, 0.0, 1.0};
EXPECT_EQ(mat3, mat4);
EXPECT_NE(mat3, Base::Matrix4D());
}
TEST(Matrix, TestMultAssign)
@@ -280,6 +294,21 @@ TEST(Matrix, TestHatOperator)
EXPECT_EQ(mat1, mat2);
}
TEST(Matrix, TestHatOperatorFloat)
{
Base::Vector3f vec{1.0, 2.0, 3.0};
Base::Matrix4D mat1;
mat1.Hat(vec);
Base::Matrix4D mat2{0.0F, -vec.z, vec.y, 0.0F,
vec.z, 0.0F, -vec.x, 0.0F,
-vec.y, vec.x, 0.0F, 0.0F,
0.0F, 0.0F, 0.0F, 1.0F};
EXPECT_EQ(mat1, mat2);
}
TEST(Matrix, TestDyadic)
{
Base::Vector3d vec{1.0, 2.0, 3.0};
@@ -295,6 +324,21 @@ TEST(Matrix, TestDyadic)
EXPECT_EQ(mat1, mat2);
}
TEST(Matrix, TestDyadicFloat)
{
Base::Vector3f vec{1.0F, 2.0F, 3.0F};
Base::Matrix4D mat1;
mat1.Outer(vec, vec);
Base::Matrix4D mat2{1.0, 2.0, 3.0, 0.0,
2.0, 4.0, 6.0, 0.0,
3.0, 6.0, 9.0, 0.0,
0.0, 0.0, 0.0, 1.0};
EXPECT_EQ(mat1, mat2);
}
TEST(Matrix, TestDecomposeScale)
{
Base::Matrix4D mat;
@@ -333,6 +377,18 @@ TEST(Matrix, TestDecomposeMove)
EXPECT_EQ(res[3], mat);
}
TEST(Matrix, TestDecomposeMoveFloat)
{
Base::Matrix4D mat;
mat.move(Base::Vector3f(1.0F, 2.0F, 3.0F));
auto res = mat.decompose();
EXPECT_TRUE(res[0].isUnity());
EXPECT_TRUE(res[1].isUnity());
EXPECT_TRUE(res[2].isUnity());
EXPECT_EQ(res[3], mat);
}
TEST(Matrix, TestDecompose)
{
Base::Matrix4D mat;
@@ -401,5 +457,121 @@ TEST(Matrix, TestRotAxisFormula) //NOLINT
EXPECT_DOUBLE_EQ(mat1[2][1], mat2[2][1]);
EXPECT_DOUBLE_EQ(mat1[2][2], mat2[2][2]);
}
TEST(Matrix, TestTransform)
{
Base::Matrix4D mat;
mat.rotZ(Base::toRadians(90.0));
Base::Matrix4D unity;
unity.transform(Base::Vector3d(10.0, 0.0, 0.0), mat);
Base::Matrix4D mov{0.0, -1.0, 0.0, 10.0,
1.0, 0.0, 0.0, -10.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0};
EXPECT_EQ(unity, mov);
}
TEST(Matrix, TestTransformFloat)
{
Base::Matrix4D mat;
mat.rotZ(Base::toRadians(90.0));
Base::Matrix4D mat2;
mat2.transform(Base::Vector3f(10.0F, 0.0F, 0.0F), mat);
Base::Matrix4D mov{0.0, -1.0, 0.0, 10.0,
1.0, 0.0, 0.0, -10.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0};
EXPECT_EQ(mat2, mov);
}
TEST(Matrix, TestInverseOrthogonal)
{
Base::Matrix4D mat;
mat.rotZ(Base::toRadians(90.0));
Base::Matrix4D mat2;
mat2.transform(Base::Vector3d(10.0, 0.0, 0.0), mat);
mat2.inverseOrthogonal();
Base::Matrix4D mov{0.0, 1.0, 0.0, 10.0,
-1.0, 0.0, 0.0, 10.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0};
EXPECT_EQ(mat2, mov);
}
TEST(Matrix, TestTranspose)
{
Base::Matrix4D mat{1.0, 2.0, 3.0, 4.0,
5.0, 6.0, 7.0, 8.0,
9.0, 1.0, 2.0, 3.0,
4.0, 5.0, 6.0, 7.0};
Base::Matrix4D trp{1.0, 5.0, 9.0, 4.0,
2.0, 6.0, 1.0, 5.0,
3.0, 7.0, 2.0, 6.0,
4.0, 8.0, 3.0, 7.0};
mat.transpose();
EXPECT_EQ(mat, trp);
}
TEST(Matrix, TestTrace)
{
Base::Matrix4D mat{1.0, 2.0, 3.0, 4.0,
5.0, 6.0, 7.0, 8.0,
9.0, 1.0, 2.0, 3.0,
4.0, 5.0, 6.0, 7.0};
EXPECT_DOUBLE_EQ(mat.trace(), 16.0);
EXPECT_DOUBLE_EQ(mat.trace3(), 9.0);
}
TEST(Matrix, TestSetAndGetMatrix)
{
Base::Matrix4D mat{1.0, 2.0, 3.0, 0.0,
2.0, 4.0, 6.0, 0.0,
3.0, 6.0, 9.0, 0.0,
0.0, 0.0, 0.0, 1.0};
std::array<double, 16> values;
mat.getMatrix(values.data());
Base::Matrix4D inp;
inp.setMatrix(values.data());
EXPECT_EQ(mat, inp);
}
TEST(Matrix, TestSetAndGetGLMatrix)
{
Base::Matrix4D mat{1.0, 2.0, 3.0, 0.0,
2.0, 4.0, 6.0, 0.0,
3.0, 6.0, 9.0, 0.0,
0.0, 0.0, 0.0, 1.0};
std::array<double, 16> values;
mat.getGLMatrix(values.data());
Base::Matrix4D inp;
inp.setGLMatrix(values.data());
EXPECT_EQ(mat, inp);
}
TEST(Matrix, TestToAndFromString)
{
Base::Matrix4D mat{1.0, 2.0, 3.0, 0.0,
2.0, 4.0, 6.0, 0.0,
3.0, 6.0, 9.0, 0.0,
0.0, 0.0, 0.0, 1.0};
std::string str = mat.toString();
Base::Matrix4D inp;
inp.fromString(str);
EXPECT_EQ(mat, inp);
}
// clang-format on
// NOLINTEND(cppcoreguidelines-*,readability-magic-numbers)